schunk_lwa4p with ros_canopen

candump.log

Script started on Wed Jul 12 11:53:45 2017
]0;rishabh@robotik-dev-1: ~/host/repositoriesrishabh@container robotik-dev-1:~/host/repositories$ candump can0
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robot.log

rishabh@container robotik-dev-1:~/host/repositories$ roslaunch schunk_lwa4p robot.launch 
... logging to /home/rishabh/.ros/log/3491f9ce-66f9-11e7-8806-e47fb21fcea4/roslaunch-robotik-dev-1.ppmd.siemens.net-20632.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://robotik-dev-1.ppmd.siemens.net:45567/

SUMMARY
========

CLEAR PARAMETERS
 * /arm/driver/

PARAMETERS
 * /arm/arm_1_joint_position_controller/joint: arm_1_joint
 * /arm/arm_1_joint_position_controller/required_drive_mode: 1
 * /arm/arm_1_joint_position_controller/type: position_controll...
 * /arm/arm_1_joint_velocity_controller/joint: arm_1_joint
 * /arm/arm_1_joint_velocity_controller/required_drive_mode: 2
 * /arm/arm_1_joint_velocity_controller/type: velocity_controll...
 * /arm/arm_2_joint_position_controller/joint: arm_2_joint
 * /arm/arm_2_joint_position_controller/required_drive_mode: 1
 * /arm/arm_2_joint_position_controller/type: position_controll...
 * /arm/arm_2_joint_velocity_controller/joint: arm_2_joint
 * /arm/arm_2_joint_velocity_controller/required_drive_mode: 2
 * /arm/arm_2_joint_velocity_controller/type: velocity_controll...
 * /arm/arm_3_joint_position_controller/joint: arm_3_joint
 * /arm/arm_3_joint_position_controller/required_drive_mode: 1
 * /arm/arm_3_joint_position_controller/type: position_controll...
 * /arm/arm_3_joint_velocity_controller/joint: arm_3_joint
 * /arm/arm_3_joint_velocity_controller/required_drive_mode: 2
 * /arm/arm_3_joint_velocity_controller/type: velocity_controll...
 * /arm/arm_4_joint_position_controller/joint: arm_4_joint
 * /arm/arm_4_joint_position_controller/required_drive_mode: 1
 * /arm/arm_4_joint_position_controller/type: position_controll...
 * /arm/arm_4_joint_velocity_controller/joint: arm_4_joint
 * /arm/arm_4_joint_velocity_controller/required_drive_mode: 2
 * /arm/arm_4_joint_velocity_controller/type: velocity_controll...
 * /arm/arm_5_joint_position_controller/joint: arm_5_joint
 * /arm/arm_5_joint_position_controller/required_drive_mode: 1
 * /arm/arm_5_joint_position_controller/type: position_controll...
 * /arm/arm_5_joint_velocity_controller/joint: arm_5_joint
 * /arm/arm_5_joint_velocity_controller/required_drive_mode: 2
 * /arm/arm_5_joint_velocity_controller/type: velocity_controll...
 * /arm/arm_6_joint_position_controller/joint: arm_6_joint
 * /arm/arm_6_joint_position_controller/required_drive_mode: 1
 * /arm/arm_6_joint_position_controller/type: position_controll...
 * /arm/arm_6_joint_velocity_controller/joint: arm_6_joint
 * /arm/arm_6_joint_velocity_controller/required_drive_mode: 2
 * /arm/arm_6_joint_velocity_controller/type: velocity_controll...
 * /arm/driver/bus/device: can0
 * /arm/driver/defaults/dcf_overlay/604Csub1: 1
 * /arm/driver/defaults/dcf_overlay/604Csub2: 24000
 * /arm/driver/defaults/eds_file: config/Schunk_0_6...
 * /arm/driver/defaults/eds_pkg: schunk_lwa4p
 * /arm/driver/defaults/vel_to_device: rint(rad2deg(vel)...
 * /arm/driver/name: arm
 * /arm/driver/nodes/arm_1_joint/id: 3
 * /arm/driver/nodes/arm_2_joint/id: 4
 * /arm/driver/nodes/arm_3_joint/id: 5
 * /arm/driver/nodes/arm_4_joint/id: 6
 * /arm/driver/sync/interval_ms: 20
 * /arm/driver/sync/overflow: 0
 * /arm/joint_group_interpol_position_controller/joints: ['arm_1_joint', '...
 * /arm/joint_group_interpol_position_controller/required_drive_mode: 7
 * /arm/joint_group_interpol_position_controller/type: position_controll...
 * /arm/joint_group_position_controller/joints: ['arm_1_joint', '...
 * /arm/joint_group_position_controller/required_drive_mode: 1
 * /arm/joint_group_position_controller/type: position_controll...
 * /arm/joint_group_velocity_controller/joints: ['arm_1_joint', '...
 * /arm/joint_group_velocity_controller/required_drive_mode: 2
 * /arm/joint_group_velocity_controller/type: velocity_controll...
 * /arm/joint_names: ['arm_1_joint', '...
 * /arm/joint_state_controller/publish_rate: 50
 * /arm/joint_state_controller/type: joint_state_contr...
 * /arm/joint_trajectory_controller/action_monitor_rate: 10
 * /arm/joint_trajectory_controller/constraints/arm_1_joint/goal: 0.1
 * /arm/joint_trajectory_controller/constraints/arm_1_joint/trajectory: 0.1
 * /arm/joint_trajectory_controller/constraints/arm_2_joint/goal: 0.1
 * /arm/joint_trajectory_controller/constraints/arm_2_joint/trajectory: 0.1
 * /arm/joint_trajectory_controller/constraints/arm_3_joint/goal: 0.1
 * /arm/joint_trajectory_controller/constraints/arm_3_joint/trajectory: 0.1
 * /arm/joint_trajectory_controller/constraints/arm_4_joint/goal: 0.1
 * /arm/joint_trajectory_controller/constraints/arm_4_joint/trajectory: 0.1
 * /arm/joint_trajectory_controller/constraints/arm_5_joint/goal: 0.1
 * /arm/joint_trajectory_controller/constraints/arm_5_joint/trajectory: 0.1
 * /arm/joint_trajectory_controller/constraints/arm_6_joint/goal: 0.1
 * /arm/joint_trajectory_controller/constraints/arm_6_joint/trajectory: 0.1
 * /arm/joint_trajectory_controller/constraints/goal_time: 0.6
 * /arm/joint_trajectory_controller/constraints/stopped_velocity_tolerance: 0.05
 * /arm/joint_trajectory_controller/joints: ['arm_1_joint', '...
 * /arm/joint_trajectory_controller/required_drive_mode: 7
 * /arm/joint_trajectory_controller/state_publish_rate: 25
 * /arm/joint_trajectory_controller/stop_trajectory_duration: 0.5
 * /arm/joint_trajectory_controller/type: position_controll...
 * /arm/max_command_silence: 0.5
 * /arm/robot_description: <?xml version="1....
 * /arm/robot_state_publisher/publish_frequency: 50.0
 * /arm/robot_state_publisher/tf_prefix: 
 * /rosdistro: indigo
 * /rosversion: 1.11.21
 * /script_server/action_name: /arm/joint_trajec...
 * /script_server/default_vel: 0.3
 * /script_server/folded: [[0.0, -0.7462504...
 * /script_server/home: [[0, 0, 0, 0, 0, 0]]
 * /script_server/joint_names: ['arm_1_joint', '...
 * /script_server/service_ns: /arm/driver
 * /script_server/wave: ['waveleft', 'wav...
 * /script_server/waveleft: [[0.0, 0.32103388...
 * /script_server/waveright: [[0.0, 0.47410626...

NODES
  /arm/
    arm_controller_spawner (controller_manager/controller_manager)
    driver (canopen_motor_node/canopen_motor_node)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)

auto-starting new master
process[master]: started with pid [20646]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 3491f9ce-66f9-11e7-8806-e47fb21fcea4
process[rosout-1]: started with pid [20659]
started core service [/rosout]
process[arm/robot_state_publisher-2]: started with pid [20677]
process[arm/driver-3]: started with pid [20678]
process[arm/arm_controller_spawner-4]: started with pid [20679]
[ INFO] [1499860618.633783647]: Using fixed control period: 0.020000000
[ INFO] [1499860633.446973543]: Initializing XXX
[ INFO] [1499860633.447246228]: Current state: 1 device error: system:0 internal_error: 0 (OK)
[ INFO] [1499860633.447394808]: Current state: 2 device error: system:0 internal_error: 0 (OK)
[ INFO] [1499860639.063083480]: Current state: 2 device error: system:125 internal_error: 0 (OK)
[ INFO] [1499860639.063132906]: Current state: 0 device error: system:125 internal_error: 0 (OK)
[ INFO] [1499860639.063179582]: Current state: 0 device error: system:0 internal_error: 0 (OK)
[ INFO] [1499860639.063237453]: Current state: 0 device error: system:0 internal_error: 0 (OK)
^C[arm/arm_controller_spawner-4] killing on exit
[arm/driver-3] killing on exit
Traceback (most recent call last):
  File "/opt/ros/indigo/lib/controller_manager/controller_manager", line 63, in <module>
    controller_manager_interface.load_controller(c)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/controller_manager/controller_manager_interface.py", line 64, in load_controller
    rospy.wait_for_service('controller_manager/load_controller')
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 149, in wait_for_service
    time.sleep(0.3)
KeyboardInterrupt
[arm/robot_state_publisher-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

rosservice.log

]0;rishabh@robotik-dev-1: ~/host/repositoriesrishabh@container robotik-dev-1:~/host/repositories$ rosservice call a /arm/driver/
/init 
success: False
message: Transition timeout; Could not enable motor
]0;rishabh@robotik-dev-1: ~/host/repositoriesrishabh@container robotik-dev-1:~/host/repositories$ exit
exit

Script done on Wed Jul 12 11:57:21 2017